kbuild: move ".config not found!" message from Kconfig to Makefile

If you run "make" in a pristine source tree, currently Kbuild will
start to build Kconfig to let it show the error message.

It would be more straightforward to check it in Makefile and let
it fail immediately.

Signed-off-by: Masahiro Yamada <yamada.masahiro@socionext.com>